*
* VALID COMMANDS:
*
* opPROGRAM_STOP: User program stopped -> either brake or float motors
* opPROGRAM_START: User program started -> reset motor parameters
* opOUTPUT_SET_TYPE: Set motor type, and reset all parameters upon motor type change
* opOUTPUT_RESET: Resets the output tacho counters
* opOUTPUT_CLR_COUNT: Resets the tacho count related to when motor is used as a sensor
* opOUTPUT_STOP: Stops the motors - either Braked or coasted
* opOUTPUT_POWER: Sets the power - this command so not start the motor
* opOUTPUT_SPEED: Sets the Speed - setpoint for regulation - this command do not start the motor
* opOUTPUT_START: Starts the motor if not started
* opOUTPUT_POLARITY: Sets the polarity of the motor - this command do not start the motor
* opOUTPUT_STEP_POWER: Runs the motor un-regulated with ramp up const and down according to the tacho
* opOUTPUT_TIME_POWER: Runs the motor un-regulated with ramp up const and down according to time
* opOUTPUT_STEP_SPEED: Runs the motor regulated with ramp up const and down according to the tacho
* opOUTPUT_TIME_SPEED: Runs the motor regulated with ramp up const and down according to the time
* opOUTPUT_STEP_SYNC: Runs two motors regulated and syncronized, duration as specified by tacho cnts
* opOUTPUT_TIME_SYNC: Runs two motors regulated and syncronized, duration as specified by time
* Default state: TBD
*
*